Technical realization elements of passive exoskeleton waist link mechanism

Technical implementation elements:

3. The purpose of the present invention is to provide a passive exoskeleton waist link mechanism, which is used to solve the problem that the overall structure design of the traditional waist connecting mechanism is not compact enough, cannot be adjusted, is cumbersome to disassemble, takes a long time, and has poor maintenance. The cost of manufacturing and use is high, and it does not meet the technical problems of the development requirements of the exoskeleton field.

4. In order to achieve the above object, the present invention provides the following technical solutions:

5. The passive exoskeleton waist link mechanism provided by the present invention includes: a waist carrier, a back connecting rod, a connecting mandrel, a fixing component and an adjustment pin;

6. Mounting holes are provided on the waist support frame, a plurality of waist-shaped holes are provided on the peripheral side of the mounting holes, limit holes are provided at the positions corresponding to the waist-shaped holes on the back connecting rod, and the One end of the connecting mandrel is installed in the waist carrier, the other end of the connecting mandrel passes through the mounting hole, and the back connecting rod is installed on the passing end of the connecting mandrel through the fixing assembly , the two ends of the adjustment pin are respectively inserted into the limit hole and the corresponding waist-shaped hole, and the back connecting rod takes the connecting mandrel as the rotation axis, within the scope of the waist-shaped hole turn.

7. Compared with the prior art, the back connecting rod in the passive exoskeleton waist link mechanism provided by the present invention is installed on the outgoing end of the connecting mandrel through the fixing assembly, and the fixed end of the connecting mandrel is installed on the waist bearing frame. It can not be rotated, which avoids the occurrence of rotation of the connecting mandrel when the back connecting rod rotates with the connecting mandrel. In the waist-shaped hole, when the back connecting rod rotates with the connecting mandrel as the axis of rotation, the adjustment pin will swing within the space of the waist-shaped hole. In which waist-shaped hole, the adjustment of the waist link mechanism is realized. The above-mentioned passive exoskeleton waist link mechanism has good adjustability, convenient disassembly, assembly and maintenance, simple structure, obvious force transmission effect, easy processing, low manufacturing and use cost of the entire system, and high practicability.

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